CameraBase.hpp

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/*********************************************************************************
 *  OKVIS - Open Keyframe-based Visual-Inertial SLAM
 *  Copyright (c) 2015, Autonomous Systems Lab / ETH Zurich
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 *  Created on: Feb 3, 2015
 *      Author: Stefan Leutenegger (s.leutenegger@imperial.ac.uk)
 *********************************************************************************/

#include <iostream>

namespace okvis {
namespace cameras {

// Set the mask. It must be the same size as the image and
bool CameraBase::setMask(const cv::Mat & mask)
{
  // check type
  if (mask.type() != CV_8UC1) {
    return false;
  }
  // check size
  if (mask.rows != imageHeight_) {
    return false;
  }
  if (mask.cols != imageWidth_) {
    return false;
  }
  mask_ = mask;
  return true;
}

bool CameraBase::removeMask()
{
  mask_.resize(0);
  return true;
}

// Was a nonzero mask set?
bool CameraBase::hasMask() const
{
  return (mask_.data);
}

// Get the mask.
const cv::Mat & CameraBase::mask() const
{
  return mask_;
}

bool CameraBase::isMasked(const Eigen::Vector2d& imagePoint) const
{
  if (!isInImage(imagePoint)) {
    return true;
  }
  if (!hasMask()) {
    return false;
  }
  return mask_.at<uchar>(int(imagePoint[1]), int(imagePoint[0]));
}

// Check if the keypoint is in the image.
bool CameraBase::isInImage(const Eigen::Vector2d& imagePoint) const
{
  if (imagePoint[0] < 0.0 || imagePoint[1] < 0.0) {
    return false;
  }
  if (imagePoint[0] >= imageWidth_ || imagePoint[1] >= imageHeight_) {
    return false;
  }
  return true;
}

} // namespace cameras
} // namespace okvis